homing: Create Homing class from gcode

Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 6 insertions, 5 deletions

diff --git a/klippy/gcode.py b/klippy/gcode.py
index 97f88563..5262676a 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -250,14 +250,15 @@ class GCodeParser:
                 axes.append(self.axis2pos[axis])
         if not axes:
             axes = [0, 1, 2]
-        busy_handler = self.toolhead.home(axes)
-        def axes_update(axes):
+        homing_state = homing.Homing(self.toolhead, axes)
+        self.toolhead.home(homing_state)
+        def axes_update(homing_state):
             newpos = self.toolhead.get_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 self.last_position[axis] = newpos[axis]
                 self.base_position[axis] = -self.homing_add[axis]
-        busy_handler.plan_axes_update(axes_update)
-        self.set_busy(busy_handler)
+        homing_state.plan_axes_update(axes_update)
+        self.set_busy(homing_state)
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True